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/* Author: Ioan Sucan */

#include "planning_models/kinematic_state.h"

planning_models::KinematicState::AttachedBody::AttachedBody(const planning_models::KinematicState::LinkState* parent_link_state,
                                                            const std::string &id, const std::vector<shapes::ShapeConstPtr> &shapes,
                                                            const EigenSTL::vector_Affine3d &attach_trans,
                                                            const std::vector<std::string> &touch_links) :
  parent_link_state_(parent_link_state), id_(id), shapes_(shapes), attach_trans_(attach_trans)
{
  touch_links_.insert(touch_links.begin(), touch_links.end());
  global_collision_body_transforms_.resize(attach_trans.size());
  for(std::size_t i = 0 ; i < global_collision_body_transforms_.size() ; ++i)
    global_collision_body_transforms_[i].setIdentity();
}

planning_models::KinematicState::AttachedBody::~AttachedBody(void)
{
}

void planning_models::KinematicState::AttachedBody::setScale(double scale)
{
  for (std::size_t i = 0 ; i < shapes_.size() ; ++i)
  {
    // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
    if (shapes_[i].unique())
      const_cast<shapes::Shape*>(shapes_[i].get())->scale(scale);
    else
    {
      // if the shape is owned elsewhere, we make a copy:
      shapes::Shape *copy = shapes_[i]->clone();
      copy->scale(scale);
      shapes_[i].reset(copy);
    }
  }
}

void planning_models::KinematicState::AttachedBody::setPadding(double padding)
{
  for (std::size_t i = 0 ; i < shapes_.size() ; ++i)
  {
    // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
    if (shapes_[i].unique())
      const_cast<shapes::Shape*>(shapes_[i].get())->padd(padding); 
    else
    {
      // if the shape is owned elsewhere, we make a copy:
      shapes::Shape *copy = shapes_[i]->clone();
      copy->padd(padding);
      shapes_[i].reset(copy);
    }
  }
}

void planning_models::KinematicState::AttachedBody::computeTransform(void)
{
  for(std::size_t i = 0; i < global_collision_body_transforms_.size() ; ++i)
    global_collision_body_transforms_[i] = parent_link_state_->getGlobalLinkTransform() * attach_trans_[i];
}
